This project contains custom Matlab code, experimental robot motor torque and angle data, and OpenSim models of a rehabilitation robot and coupled arm-robot model. The rehabilitation robot used in this study was developed by Kinarm Corporation (Kingston, Ontario, Canada), while the upper extremity model used was developed by Saul et al. (2015) and is available on Simtk.org (https://simtk.org/projects/upexdyn). The study seeks to verify and validate whether the OpenSim models are able to reproduce experimental measurements made with the robot under four conditions: 1) active robot, no arm, 2) active robot, passive arm, 3) passive robot, active arm, and 4) active robot, active arm.